Ion Systems / Mbed 2 deprecated Chipin_Main

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Dependencies:   MCP23017 TCS3472_I2C WattBob_TextLCD mbed-rtos mbed

FPGAcomms.h@17:6a0bb0ad5bb4, 2014-11-24 (annotated)

Committer:
IonSystems
Date:
Mon Nov 24 14:00:46 2014 +0000
Revision:
17:6a0bb0ad5bb4
Parent:
15:0c5f20e15b6a
Child:
19:78d4b78fa736
fixed some bugs, great comment i know

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IonSystems 6:e64796f1f384 1 #include "mbed.h"
IonSystems 11:06f6e82b40a8 2 //#include "Colour.h"
IonSystems 11:06f6e82b40a8 3 #include "colourProcessing.h"
IonSystems 6:e64796f1f384 4 //Setup pins to FPGA
IonSystems 6:e64796f1f384 5 DigitalOut startSort(p5); //A positive edge tells the FPGA to start sorting.
IonSystems 10:8c0696b99692 6 DigitalIn sortComplete(p16);
IonSystems 6:e64796f1f384 7 /*
IonSystems 6:e64796f1f384 8 The command codes for the three sort select bits(ColourBit1 - ColourBit2)
IonSystems 17:6a0bb0ad5bb4 9 See datasheet for furter information
IonSystems 6:e64796f1f384 10 000 Sort red chip
IonSystems 6:e64796f1f384 11 001 Sort green chip
IonSystems 6:e64796f1f384 12 010 Sort blue chip
IonSystems 6:e64796f1f384 13 011 Bin the chip
IonSystems 6:e64796f1f384 14 100 Recycle the chip
IonSystems 6:e64796f1f384 15 101 Nothing
IonSystems 6:e64796f1f384 16 110 Nothing
IonSystems 6:e64796f1f384 17 111 Nothing
IonSystems 6:e64796f1f384 18 */
IonSystems 6:e64796f1f384 19
IonSystems 6:e64796f1f384 20 DigitalOut colourBit1(p6); //The 3 bits below are select bits for the sorter.
IonSystems 6:e64796f1f384 21 DigitalOut colourBit2(p7);
IonSystems 6:e64796f1f384 22 DigitalOut colourBit3(p8);
IonSystems 9:8d78eb55ad5e 23 DigitalOut startDispense(p18); //A positive edge tells the FPGA to start dispensing. p9
IonSystems 6:e64796f1f384 24 /*
IonSystems 6:e64796f1f384 25 00 Dispense red chip
IonSystems 6:e64796f1f384 26 01 Dispense green chip
IonSystems 6:e64796f1f384 27 10 Dispense blue chip
IonSystems 6:e64796f1f384 28 11 Nothing
IonSystems 6:e64796f1f384 29 */
IonSystems 6:e64796f1f384 30
IonSystems 9:8d78eb55ad5e 31 DigitalOut dispenseBit1(p19); //The 2 bits below are select bits for the dispenser.p10
IonSystems 9:8d78eb55ad5e 32 DigitalOut dispenseBit2(p20); //p11
IonSystems 8:b7771391adc9 33
IonSystems 12:814a8fdbb6f7 34 DigitalIn dispenseComplete(p11); //FPGA sets to 1 once complete until another signal is recieved.
IonSystems 10:8c0696b99692 35 DigitalOut select(p15); //0 for control, 1 for maintenance.
IonSystems 10:8c0696b99692 36
IonSystems 12:814a8fdbb6f7 37
IonSystems 12:814a8fdbb6f7 38 void setMaintenanceSelect(bool bit6, bool bit5, bool bit4, bool bit3, bool bit2, bool bit1){
IonSystems 12:814a8fdbb6f7 39 startSort = bit1;
IonSystems 12:814a8fdbb6f7 40 colourBit1 = bit2;
IonSystems 12:814a8fdbb6f7 41 colourBit2 = bit3;
IonSystems 12:814a8fdbb6f7 42 colourBit3 = bit4;
IonSystems 12:814a8fdbb6f7 43 startDispense = bit5;
IonSystems 12:814a8fdbb6f7 44 dispenseBit1 = bit6;
IonSystems 12:814a8fdbb6f7 45 }
IonSystems 12:814a8fdbb6f7 46
IonSystems 12:814a8fdbb6f7 47 void setMaintenanceStart(bool value){
IonSystems 12:814a8fdbb6f7 48 dispenseBit2 = value;
IonSystems 12:814a8fdbb6f7 49 }
IonSystems 12:814a8fdbb6f7 50 void waitForMaintenanceComplete(){
IonSystems 12:814a8fdbb6f7 51 while(!sortComplete){
IonSystems 14:31ba3e56c788 52 printLCD("Waiting for REC");
IonSystems 12:814a8fdbb6f7 53 wait(0.1);
IonSystems 12:814a8fdbb6f7 54 }
IonSystems 12:814a8fdbb6f7 55 }
IonSystems 12:814a8fdbb6f7 56 void maintain(StateMachine maintainState){
IonSystems 12:814a8fdbb6f7 57 select = 1; //setting FPGA to maintenance mode.
IonSystems 12:814a8fdbb6f7 58 setMaintenanceSelect(true,true,true,true,true,true);
IonSystems 12:814a8fdbb6f7 59 switch(maintainState){
IonSystems 12:814a8fdbb6f7 60 case RB_LEFT:
IonSystems 12:814a8fdbb6f7 61 setMaintenanceSelect(false,false,false,true,false,true);
IonSystems 12:814a8fdbb6f7 62 break;
IonSystems 12:814a8fdbb6f7 63 case RB_CENTRE:
IonSystems 12:814a8fdbb6f7 64 setMaintenanceSelect(false,false,false,true,true,false);
IonSystems 12:814a8fdbb6f7 65 break;
IonSystems 12:814a8fdbb6f7 66 case RB_RIGHT:
IonSystems 12:814a8fdbb6f7 67 setMaintenanceSelect(false,false,false,true,true,true);
IonSystems 12:814a8fdbb6f7 68 break;
IonSystems 12:814a8fdbb6f7 69 case GO_UP:
IonSystems 12:814a8fdbb6f7 70 setMaintenanceSelect(false,false,true,false,false,false);
IonSystems 12:814a8fdbb6f7 71 break;
IonSystems 12:814a8fdbb6f7 72 case GO_CENTRE:
IonSystems 12:814a8fdbb6f7 73 setMaintenanceSelect(false,false,true,false,false,true);
IonSystems 12:814a8fdbb6f7 74 break;
IonSystems 12:814a8fdbb6f7 75 case GO_DOWN:
IonSystems 12:814a8fdbb6f7 76 setMaintenanceSelect(false,false,true,false,true,false);
IonSystems 12:814a8fdbb6f7 77 break;
IonSystems 12:814a8fdbb6f7 78 case BR_LEFT:
IonSystems 12:814a8fdbb6f7 79 setMaintenanceSelect(false,false,true,false,true,true);
IonSystems 12:814a8fdbb6f7 80 break;
IonSystems 12:814a8fdbb6f7 81 case BR_RIGHT:
IonSystems 12:814a8fdbb6f7 82 setMaintenanceSelect(false,false,true,true,false,false);
IonSystems 12:814a8fdbb6f7 83 break;
IonSystems 12:814a8fdbb6f7 84 case R_PUSH:
IonSystems 12:814a8fdbb6f7 85 setMaintenanceSelect(false,false,true,true,false,true);
IonSystems 12:814a8fdbb6f7 86 break;
IonSystems 14:31ba3e56c788 87 default:
IonSystems 14:31ba3e56c788 88 log("Incorrect maintenance command recieved");
IonSystems 14:31ba3e56c788 89 printLCD("Incorrect maintenance command recieved");
IonSystems 14:31ba3e56c788 90 break;
IonSystems 12:814a8fdbb6f7 91 }
IonSystems 12:814a8fdbb6f7 92 setMaintenanceStart(true);//Bit 7
IonSystems 12:814a8fdbb6f7 93 waitForMaintenanceComplete();
IonSystems 15:0c5f20e15b6a 94 wait(0.5);
IonSystems 12:814a8fdbb6f7 95 setMaintenanceStart(false);
IonSystems 12:814a8fdbb6f7 96 }
IonSystems 12:814a8fdbb6f7 97
IonSystems 12:814a8fdbb6f7 98
IonSystems 10:8c0696b99692 99 void dispense(Colour colour){
IonSystems 13:0661d658d9d1 100
IonSystems 12:814a8fdbb6f7 101 bool validDispense = false;
IonSystems 10:8c0696b99692 102 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 10:8c0696b99692 103 dispenseBit1 = true;
IonSystems 10:8c0696b99692 104 dispenseBit2 = true;
IonSystems 14:31ba3e56c788 105 /* A dispense operation can only take place if there are more than zero chips
IonSystems 14:31ba3e56c788 106 */
IonSystems 10:8c0696b99692 107 switch(colour){
IonSystems 10:8c0696b99692 108 case RED:
IonSystems 14:31ba3e56c788 109 if(redAmount > 0 || operationMode == false){
IonSystems 12:814a8fdbb6f7 110 log("RED");
IonSystems 12:814a8fdbb6f7 111 log("Setting dispense bits to 00");
IonSystems 12:814a8fdbb6f7 112 dispenseBit1 = false;
IonSystems 12:814a8fdbb6f7 113 dispenseBit2 = false;
IonSystems 12:814a8fdbb6f7 114 redAmount--;
IonSystems 12:814a8fdbb6f7 115 validDispense = true;
IonSystems 12:814a8fdbb6f7 116 }
IonSystems 10:8c0696b99692 117 break;
IonSystems 10:8c0696b99692 118 case GREEN:
IonSystems 12:814a8fdbb6f7 119 if(greenAmount > 0 || operationMode == false){
IonSystems 12:814a8fdbb6f7 120 log("GREEN");
IonSystems 12:814a8fdbb6f7 121 log("Setting dispense bits to 10");
IonSystems 12:814a8fdbb6f7 122 dispenseBit1 = true;
IonSystems 12:814a8fdbb6f7 123 dispenseBit2 = false;
IonSystems 12:814a8fdbb6f7 124 greenAmount--;
IonSystems 12:814a8fdbb6f7 125 validDispense = true;
IonSystems 12:814a8fdbb6f7 126 }
IonSystems 10:8c0696b99692 127 break;
IonSystems 10:8c0696b99692 128 case BLUE:
IonSystems 12:814a8fdbb6f7 129 if(blueAmount > 0 || operationMode == false){
IonSystems 10:8c0696b99692 130 log("BLUE");
IonSystems 10:8c0696b99692 131 log("Setting dispense bits to 01");
IonSystems 10:8c0696b99692 132 dispenseBit1 = false;
IonSystems 10:8c0696b99692 133 dispenseBit2 = true;
IonSystems 12:814a8fdbb6f7 134 blueAmount--;
IonSystems 12:814a8fdbb6f7 135 validDispense = true;
IonSystems 12:814a8fdbb6f7 136 }
IonSystems 10:8c0696b99692 137 break;
IonSystems 14:31ba3e56c788 138
IonSystems 14:31ba3e56c788 139 }writeFile(redAmount,greenAmount,blueAmount);
IonSystems 10:8c0696b99692 140
IonSystems 12:814a8fdbb6f7 141 if(validDispense || operationMode == false){
IonSystems 10:8c0696b99692 142 log("Setting start dispense to true");
IonSystems 10:8c0696b99692 143 startDispense = true; //set the startDispense line high.
IonSystems 10:8c0696b99692 144
IonSystems 10:8c0696b99692 145
IonSystems 10:8c0696b99692 146 //wait(1); //temporary delay
IonSystems 10:8c0696b99692 147 while(!dispenseComplete){
IonSystems 11:06f6e82b40a8 148 wait(0.2);
IonSystems 10:8c0696b99692 149 log("Waiting for dispense complete");
IonSystems 10:8c0696b99692 150 printLCD("Waiting for dispense complete");
IonSystems 10:8c0696b99692 151 }
IonSystems 10:8c0696b99692 152
IonSystems 12:814a8fdbb6f7 153 wait(0.6);
IonSystems 10:8c0696b99692 154 log("Complete");
IonSystems 10:8c0696b99692 155 log("Setting start dispense to false");
IonSystems 10:8c0696b99692 156 startDispense = false;
IonSystems 10:8c0696b99692 157
IonSystems 10:8c0696b99692 158 log("Resetting dispense bits to 11");
IonSystems 10:8c0696b99692 159 dispenseBit1 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 160 dispenseBit2 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 161
IonSystems 10:8c0696b99692 162
IonSystems 10:8c0696b99692 163
IonSystems 10:8c0696b99692 164 printLCD("DISPENSE COMPLETE");
IonSystems 13:0661d658d9d1 165
IonSystems 12:814a8fdbb6f7 166 }
IonSystems 10:8c0696b99692 167 }
IonSystems 14:31ba3e56c788 168 void dispenseOrder(int r, int g, int b){
IonSystems 14:31ba3e56c788 169 for(int i = r; r >= 0;i--){
IonSystems 14:31ba3e56c788 170 dispense(RED);
IonSystems 14:31ba3e56c788 171 }
IonSystems 14:31ba3e56c788 172 for(int i = g; i >= 0;i--){
IonSystems 15:0c5f20e15b6a 173 dispense(GREEN);
IonSystems 15:0c5f20e15b6a 174 }
IonSystems 15:0c5f20e15b6a 175 for(int i = g; i >= 0;i--){
IonSystems 15:0c5f20e15b6a 176 dispense(BLUE);
IonSystems 14:31ba3e56c788 177 }
IonSystems 17:6a0bb0ad5bb4 178 }
IonSystems 17:6a0bb0ad5bb4 179
IonSystems 17:6a0bb0ad5bb4 180 void recycle(){
IonSystems 17:6a0bb0ad5bb4 181
IonSystems 17:6a0bb0ad5bb4 182 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 17:6a0bb0ad5bb4 183 colourBit1 = true;
IonSystems 17:6a0bb0ad5bb4 184 colourBit2 = true;
IonSystems 17:6a0bb0ad5bb4 185 colourBit3 = true;
IonSystems 17:6a0bb0ad5bb4 186
IonSystems 17:6a0bb0ad5bb4 187 log("Recycle");
IonSystems 17:6a0bb0ad5bb4 188 log("Setting sort bits to 100");
IonSystems 17:6a0bb0ad5bb4 189 colourBit1 = false;
IonSystems 17:6a0bb0ad5bb4 190 colourBit2 = false;
IonSystems 17:6a0bb0ad5bb4 191 colourBit3 = true;
IonSystems 17:6a0bb0ad5bb4 192
IonSystems 17:6a0bb0ad5bb4 193 log("Setting start sort to true");
IonSystems 17:6a0bb0ad5bb4 194 startSort = true; //set the startDispense line high.
IonSystems 17:6a0bb0ad5bb4 195
IonSystems 17:6a0bb0ad5bb4 196 //wait(1); //temporary delay
IonSystems 17:6a0bb0ad5bb4 197 while(!sortComplete){
IonSystems 17:6a0bb0ad5bb4 198 wait(0.5);
IonSystems 17:6a0bb0ad5bb4 199 log("Waiting for sort complete");
IonSystems 17:6a0bb0ad5bb4 200 printLCD("Waiting for sort complete");
IonSystems 17:6a0bb0ad5bb4 201 }
IonSystems 17:6a0bb0ad5bb4 202
IonSystems 17:6a0bb0ad5bb4 203
IonSystems 17:6a0bb0ad5bb4 204 log("Complete");
IonSystems 17:6a0bb0ad5bb4 205 wait(0.5);
IonSystems 17:6a0bb0ad5bb4 206 log("Setting start sort to false");
IonSystems 17:6a0bb0ad5bb4 207 startSort = false;
IonSystems 17:6a0bb0ad5bb4 208
IonSystems 17:6a0bb0ad5bb4 209 log("Resetting dispense bits to 11");
IonSystems 17:6a0bb0ad5bb4 210 colourBit1 = true; //reset the dispense select to do nothing
IonSystems 17:6a0bb0ad5bb4 211 colourBit2 = true; //reset the dispense select to do nothing
IonSystems 17:6a0bb0ad5bb4 212 colourBit3 = true;
IonSystems 17:6a0bb0ad5bb4 213 printLCD("RECYCLE COMPLETE");
IonSystems 17:6a0bb0ad5bb4 214
IonSystems 17:6a0bb0ad5bb4 215 }
IonSystems 10:8c0696b99692 216 void sort(Colour colour){
IonSystems 13:0661d658d9d1 217 if(colour == NONE){
IonSystems 13:0661d658d9d1 218 return;
IonSystems 13:0661d658d9d1 219 }else{
IonSystems 17:6a0bb0ad5bb4 220
IonSystems 10:8c0696b99692 221 select = 0; //Setting to operation mode just in case it has not been set.
IonSystems 10:8c0696b99692 222 colourBit1 = true;
IonSystems 10:8c0696b99692 223 colourBit2 = true;
IonSystems 10:8c0696b99692 224 colourBit3 = true;
IonSystems 10:8c0696b99692 225 switch(colour){
IonSystems 10:8c0696b99692 226 case RED:
IonSystems 17:6a0bb0ad5bb4 227 if(redAmount >= tubeSize){
IonSystems 17:6a0bb0ad5bb4 228 recycle();
IonSystems 17:6a0bb0ad5bb4 229 return;
IonSystems 17:6a0bb0ad5bb4 230 }
IonSystems 10:8c0696b99692 231 log("Sort RED");
IonSystems 10:8c0696b99692 232 log("Setting sort bits to 000");
IonSystems 10:8c0696b99692 233 colourBit1 = false;
IonSystems 10:8c0696b99692 234 colourBit2 = false;
IonSystems 10:8c0696b99692 235 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 236 redAmount++;
IonSystems 10:8c0696b99692 237 break;
IonSystems 10:8c0696b99692 238 case GREEN:
IonSystems 17:6a0bb0ad5bb4 239 if(greenAmount >= tubeSize){
IonSystems 17:6a0bb0ad5bb4 240 recycle();
IonSystems 17:6a0bb0ad5bb4 241 return;
IonSystems 17:6a0bb0ad5bb4 242 }
IonSystems 10:8c0696b99692 243 log("Sort GREEN");
IonSystems 10:8c0696b99692 244 log("Setting sort bits to 001");
IonSystems 10:8c0696b99692 245 colourBit1 = true;
IonSystems 10:8c0696b99692 246 colourBit2 = false;
IonSystems 10:8c0696b99692 247 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 248 greenAmount++;
IonSystems 10:8c0696b99692 249 break;
IonSystems 10:8c0696b99692 250 case BLUE:
IonSystems 17:6a0bb0ad5bb4 251 if(blueAmount >= tubeSize){
IonSystems 17:6a0bb0ad5bb4 252 recycle();
IonSystems 17:6a0bb0ad5bb4 253 return;
IonSystems 17:6a0bb0ad5bb4 254 }
IonSystems 10:8c0696b99692 255 log("Sort BLUE");
IonSystems 10:8c0696b99692 256 log("Setting sort bits to 010");
IonSystems 10:8c0696b99692 257 colourBit1 = false;
IonSystems 10:8c0696b99692 258 colourBit2 = true;
IonSystems 10:8c0696b99692 259 colourBit3 = false;
IonSystems 12:814a8fdbb6f7 260 blueAmount++;
IonSystems 10:8c0696b99692 261 break;
IonSystems 11:06f6e82b40a8 262 case BIN:
IonSystems 11:06f6e82b40a8 263 log("Sort BIN");
IonSystems 11:06f6e82b40a8 264 log("Setting sort bits to 011");
IonSystems 11:06f6e82b40a8 265 colourBit1 = true;
IonSystems 11:06f6e82b40a8 266 colourBit2 = true;
IonSystems 11:06f6e82b40a8 267 colourBit3 = false;
IonSystems 11:06f6e82b40a8 268 break;
IonSystems 10:8c0696b99692 269 }
IonSystems 10:8c0696b99692 270
IonSystems 10:8c0696b99692 271
IonSystems 10:8c0696b99692 272 log("Setting start sort to true");
IonSystems 10:8c0696b99692 273 startSort = true; //set the startDispense line high.
IonSystems 10:8c0696b99692 274
IonSystems 10:8c0696b99692 275
IonSystems 10:8c0696b99692 276 //wait(1); //temporary delay
IonSystems 10:8c0696b99692 277 while(!sortComplete){
IonSystems 11:06f6e82b40a8 278 wait(0.5);
IonSystems 10:8c0696b99692 279 log("Waiting for sort complete");
IonSystems 10:8c0696b99692 280 printLCD("Waiting for sort complete");
IonSystems 10:8c0696b99692 281 }
IonSystems 10:8c0696b99692 282
IonSystems 10:8c0696b99692 283
IonSystems 10:8c0696b99692 284 log("Complete");
IonSystems 12:814a8fdbb6f7 285 wait(0.6);
IonSystems 10:8c0696b99692 286 log("Setting start sort to false");
IonSystems 11:06f6e82b40a8 287 startSort = false;
IonSystems 10:8c0696b99692 288
IonSystems 10:8c0696b99692 289 log("Resetting dispense bits to 11");
IonSystems 10:8c0696b99692 290 colourBit1 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 291 colourBit2 = true; //reset the dispense select to do nothing
IonSystems 10:8c0696b99692 292 colourBit3 = true;
IonSystems 10:8c0696b99692 293 printLCD("SORT COMPLETE");
IonSystems 12:814a8fdbb6f7 294 writeFile(redAmount,greenAmount,blueAmount);
IonSystems 13:0661d658d9d1 295 }
IonSystems 12:814a8fdbb6f7 296 }
IonSystems 12:814a8fdbb6f7 297
IonSystems 12:814a8fdbb6f7 298 void dispenseAll(){
IonSystems 12:814a8fdbb6f7 299 int red = redAmount;
IonSystems 12:814a8fdbb6f7 300 int green = greenAmount;
IonSystems 12:814a8fdbb6f7 301 int blue = blueAmount;
IonSystems 12:814a8fdbb6f7 302 for(int r = 0;r < red;r++){
IonSystems 12:814a8fdbb6f7 303 dispense(RED);
IonSystems 12:814a8fdbb6f7 304 wait(0.5);
IonSystems 12:814a8fdbb6f7 305 }redAmount = 0;
IonSystems 12:814a8fdbb6f7 306
IonSystems 12:814a8fdbb6f7 307 for(int g = 0;g < green;g++){
IonSystems 12:814a8fdbb6f7 308 dispense(GREEN);
IonSystems 12:814a8fdbb6f7 309 wait(0.5);
IonSystems 12:814a8fdbb6f7 310 }greenAmount = 0;
IonSystems 12:814a8fdbb6f7 311
IonSystems 12:814a8fdbb6f7 312 for(int b = 0;b < blue;b++){
IonSystems 12:814a8fdbb6f7 313 dispense(BLUE);
IonSystems 12:814a8fdbb6f7 314 wait(0.5);
IonSystems 12:814a8fdbb6f7 315 }blueAmount = 0;
IonSystems 12:814a8fdbb6f7 316 writeFile(redAmount,greenAmount,blueAmount);
IonSystems 12:814a8fdbb6f7 317 }